apollo::perception::radar::ContiArsTracker类 参考

#include <conti_ars_tracker.h>

类 apollo::perception::radar::ContiArsTracker 继承关系图:

apollo::perception::radar::ContiArsTracker 的协作图:

Public 成员函数
	ContiArsTracker ()
virtual	~ContiArsTracker ()
bool	Init (const TrackerInitOptions &options) override
	Init ContiArsTracker config
bool	Track (const base::Frame &detected_frame, const TrackerOptions &options, base::FramePtr tracked_frame) override
	Tracking objects.
Public 成员函数 继承自 apollo::perception::radar::BaseTracker
	BaseTracker ()
	Construct a new Base Tracker object
virtual	~BaseTracker ()=default
virtual std::string	Name ()
	The name of the radar base Tracker

额外继承的成员函数
Protected 属性 继承自 apollo::perception::radar::BaseTracker
std::string	name_

详细描述

在文件 conti_ars_tracker.h 第 31 行定义.

构造及析构函数说明

ContiArsTracker()

apollo::perception::radar::ContiArsTracker::ContiArsTracker

(

)

在文件 conti_ars_tracker.cc 第 30 行定义.

    : BaseTracker(), matcher_(nullptr), track_manager_(nullptr) {
  name_ = "ContiArsTracker";
}

~ContiArsTracker()

apollo::perception::radar::ContiArsTracker::~ContiArsTracker ( )

virtual

在文件 conti_ars_tracker.cc 第 35 行定义.

                                  {
  if (track_manager_ != nullptr) {
    delete track_manager_;
  }
}

成员函数说明

Init()

bool apollo::perception::radar::ContiArsTracker::Init ( const TrackerInitOptions &  options )

overridevirtual

Init ContiArsTracker config

参数

options

返回

true

false

实现了 apollo::perception::radar::BaseTracker.

在文件 conti_ars_tracker.cc 第 41 行定义.

                                                            {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  TrackerConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  s_tracking_time_win_ = config.tracking_time_window();
 
  std::string chosen_filter = config.chosen_filter();
  RadarTrack::SetChosenFilter(chosen_filter);
 
  int tracked_times_threshold = config.tracked_times_threshold();
  RadarTrack::SetTrackedTimesThreshold(tracked_times_threshold);
 
  bool use_filter = config.use_filter();
  RadarTrack::SetUseFilter(use_filter);
 
  // Or use register class instead.
  MatcherInitOptions matcher_init_options;
  auto matcher_param = config.matcher_param();
  matcher_init_options.config_path = matcher_param.config_path();
  matcher_init_options.config_file = matcher_param.config_file();
  BaseMatcher *matcher =
      BaseMatcherRegisterer::GetInstanceByName(matcher_param.name());
  CHECK_NOTNULL(matcher);
  matcher_.reset(matcher);
  ACHECK(matcher_->Init(matcher_init_options))
      << "Failed to init radar preprocessor.";
 
  track_manager_ = new RadarTrackManager();
  ACHECK(track_manager_ != nullptr)
      << "Failed to get RadarTrackManager instance.";
  return true;
}

Track()

bool apollo::perception::radar::ContiArsTracker::Track ( const base::Frame &  detected_frame, const TrackerOptions &  options, base::FramePtr  tracked_frame  )

overridevirtual

Tracking objects.

参数

detected_frame	current object frame.
options	tracking options
tracked_frame	current tracked objects frame.

返回

true

false

实现了 apollo::perception::radar::BaseTracker.

在文件 conti_ars_tracker.cc 第 77 行定义.

                                                        {
  TrackObjects(detected_frame);
  CollectTrackedFrame(tracked_frame);
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/radar_detection/lib/tracker/conti_ars_tracker/conti_ars_tracker.h
• modules/perception/radar_detection/lib/tracker/conti_ars_tracker/conti_ars_tracker.cc